generic_updater.cpp

Go to the documentation of this file.

#include "sr_robot_lib/generic_updater.hpp"
#include <boost/foreach.hpp>
#include <iostream>

namespace generic_updater
{
  template <class CommandType>
  GenericUpdater<CommandType>::GenericUpdater(std::vector<UpdateConfig> update_configs_vector,
                                 operation_mode::device_update_state::DeviceUpdateState update_state)
    : nh_tilde("~"), which_data_to_request(0), update_state(update_state), update_configs_vector(
      update_configs_vector)
  {
    mutex = boost::shared_ptr<boost::mutex>(new boost::mutex());

    BOOST_FOREACH(UpdateConfig config, update_configs_vector)
    {
      if (config.when_to_update == -2.0)
      {
        initialization_configs_vector.push_back(config);
      }
      else if (config.when_to_update != -1.0)
      {
        double tmp_dur = config.when_to_update;
        ros::Duration duration(tmp_dur);

        timers.push_back(
          nh_tilde.createTimer(
            duration,
            boost::bind(&GenericUpdater::timer_callback, this, _1, config.what_to_update)));
      }
      else
        important_update_configs_vector.push_back(config);
    }
    ROS_DEBUG_STREAM("Init config size"<<initialization_configs_vector.size());
    ROS_DEBUG_STREAM("Important config size"<<important_update_configs_vector.size());

    //If there isn't any command defined as initializingcommand (-2), state switches to operation
    if (initialization_configs_vector.size() == 0)
    {
      ROS_INFO_STREAM("No init command. Switching to operation");
      update_state = operation_mode::device_update_state::OPERATION;
    }
  }

  template <class CommandType>
  GenericUpdater<CommandType>::~GenericUpdater()
  {
  }

  template <class CommandType>
  void GenericUpdater<CommandType>::timer_callback(const ros::TimerEvent& event, int32u data_type)
  {
    if (update_state == operation_mode::device_update_state::OPERATION)
    {
      boost::mutex::scoped_lock l(*mutex);
      unimportant_data_queue.push(data_type);

      ROS_DEBUG_STREAM("Timer: data type = "<<data_type << " | queue size: "<<unimportant_data_queue.size());
    }
  }

  //Only to ensure that the template class is compiled for the types we are interested in
  template class GenericUpdater<ETHERCAT_DATA_STRUCTURE_0200_PALM_EDC_COMMAND>;
  template class GenericUpdater<ETHERCAT_DATA_STRUCTURE_0230_PALM_EDC_COMMAND>;
  template class GenericUpdater<ETHERCAT_DATA_STRUCTURE_0300_PALM_EDC_COMMAND>;
} //end namespace generic_updater

/* For the emacs weenies in the crowd.
 Local Variables:
 c-basic-offset: 2
 End:
 */